Kinematic Analysis and Simulation of Industrial Robot Based on RoboAnalyzer

Abstract

In this paper, the kinematic analysis of a six-degree-of-freedom (6-DOF) industrial robot is presented. A six-degree-of-freedom industrial robot is widely used for welding, painting, pick and place, and packaging applications. The forward and inverse kinematic analysis based on Denavit–Hartenberg (D-H) parameters is performed by using RoboAnalyzer tool. RoboAnalyzer is a visualization tool used for learning and teaching the concepts of industrial robots. The forward and inverse kinematic analysis depends upon the joint-link parameters of the robot arm. This paper focuses on the development of kinematic equations for an industrial robot. Two trial tests were conducted for different joint variables to verify the position of the end-effector of the robot arm. The results obtained from forward kinematic equations are compared with simulation data provided by the RoboAnalyzer. The simulation results verify the validity of the developed kinematic equations. Furthermore, the inverse kinematic module of the RoboAnalyzer is used to generate a possible set of solutions for a specified position of the end-effector.